Autonomous driving system and autonomous driving method

Abstract

To provide an autonomous travelling system that creates an auxiliary line that can be used as a route in a headland region to allow a work vehicle to autonomously travel in the headland region properly, and to provide a method of autonomous travelling.SOLUTION: An autonomous travelling system includes an auxiliary line creation part and a display control part. The auxiliary line creation part creates an auxiliary line (first reference auxiliary line 81) to allow a work vehicle to autonomously travel on the basis of a farm field peripheral edge. The display control part displays the auxiliary line (first reference auxiliary line 81).SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates primarily to an autonomous driving system and an autonomous driving method for causing a work vehicle equipped with a work implement to travel along a route. [Background technology]

[0002] A farm field is sometimes divided into a work area where a work vehicle mainly travels straight ahead to perform work, and a headland area around the work vehicle for turning, for example. Patent Document 1 describes the creation of a route for autonomously driving a work vehicle in both this type of work area and headland area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-266608 Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 does not describe in detail a specific method for creating or using a route for the headland area. Because the headland area has characteristics different from those of the work area, the route creation method or usage method for the work area cannot be simply applied to the headland area.

[0005] The present invention has been made in consideration of the above circumstances, and its main objective is to provide an autonomous driving system and an autonomous driving method that are capable of properly autonomously driving a work vehicle in a headland area by creating auxiliary lines that can be used as routes in the headland area. [Means for solving the problem]

[0006] An autonomous driving system according to one aspect of the present invention includes an auxiliary line generating unit and a display control unit. The auxiliary line generating unit generates an auxiliary line for autonomous driving of a work vehicle based on a periphery of a field. The display control unit displays the auxiliary line.

[0007] An autonomous driving system according to one aspect of the present invention includes an auxiliary line creation unit and a display control unit. The auxiliary line creation unit creates auxiliary lines for autonomous driving of the work vehicle based on the periphery of a work area in which the work vehicle is to perform work by autonomous driving. The display control unit displays the auxiliary lines in front of the work vehicle.

[0008] An autonomous driving method according to one embodiment of the present invention creates auxiliary lines for causing a work vehicle to drive autonomously based on the edge of a field or the edge of a work area in which the work vehicle is to perform work by driving autonomously, and displays the auxiliary lines. [Brief description of the drawings]

[0009] [Figure 1] 1 is a side view showing the overall configuration of a tractor used in an autonomous driving system according to an embodiment of the present invention. [Diagram 2] FIG. [Diagram 3] FIG. 1 is a block diagram showing the main configuration of an autonomous driving system. [Figure 4] FIG. 2 is a diagram showing a driving route along which the tractor travels autonomously when working in a work area of ​​a farm field. [Diagram 5] A diagram showing the first reference auxiliary line and the first adjacent auxiliary line created in the headland area. [Figure 6] 11 is a flowchart showing a process of creating a first reference extension line and a first adjacent extension line. [Figure 7] 11A and 11B are diagrams showing a schematic flow of a process for creating a first reference auxiliary line and a first adjacent auxiliary line. [Figure 8] A diagram showing a second reference auxiliary line and a second adjacent auxiliary line created in the headland area. [Figure 9] 10 is a flowchart showing a process of creating a second reference extension line and a second adjacent extension line. [Figure 10] 11A and 11B are diagrams showing a schematic flow of a process for creating a second reference auxiliary line and a second adjacent auxiliary line. [Figure 11] 4 is a flowchart showing processing related to work in a work area and a headland area. [Figure 12] 13A and 13B are diagrams showing images displayed on the wireless communication terminal after a route has been created. [Figure 13] 13A and 13B are diagrams showing images displayed on the wireless communication terminal during work in the work area. [Figure 14] FIG. 13 is a diagram showing an image displayed on the wireless communication terminal during work in the headland area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Next, an autonomous driving system according to an embodiment of the present invention will be described. The autonomous driving system autonomously drives one or more work vehicles in a field (driving area) to perform all or part of the work. In this embodiment, a tractor is used as an example of the work vehicle, but the work vehicle includes not only tractors but also ride-on work machines such as rice transplanters, combine harvesters, civil engineering and construction work equipment, snowplows, and walk-behind work machines. In this specification, autonomous driving means that at least steering is performed autonomously to follow a predetermined route by controlling the configuration related to the driving of the tractor by a control unit (ECU) equipped in the tractor. In addition to steering, the vehicle speed or work by the work machine may be performed autonomously. Autonomous driving includes a case where a person is riding on the tractor and a case where a person is not riding on the tractor.

[0011] Next, the autonomous driving system 100 will be specifically described with reference to Fig. 1 to Fig. 3. Fig. 1 is a side view showing the overall configuration of the tractor 1. Fig. 2 is a plan view of the tractor 1. Fig. 3 is a block diagram showing the main configuration of a control system of the autonomous driving system 100.

[0012] The tractor 1 shown in Fig. 1 is used in an autonomous driving system 100, and is operated by wireless communication with a wireless communication terminal 46. The tractor 1 includes a traveling machine body (vehicle body) 2 capable of autonomously traveling within a farm field. A work machine 3 for performing, for example, agricultural work is detachably attached to the traveling machine body 2.

[0013] As the working machine 3, for example, there are various working machines such as a tiller, a plow, a fertilizer applicator, a grass cutter, a seeding machine, etc., and the working machine 3 selected from these is attached to the traveling body 2. FIG. 1 and FIG. 2 show an example in which a tiller is attached as the working machine 3. The tiller has tiller tines 3b arranged inside a cover 3a, and the tiller tines 3b rotate around the vehicle width direction as a rotation center to till the field. Here, the width (length in the vehicle width direction) where the working machine 3 works is called the working width W1, and the length of the working machine 3 in the vehicle width direction is called the working machine width W2. In the tiller having the shape shown in FIG. 2, the width of the tiller tines 3b corresponds to the working width W1, and the width of the cover 3a corresponds to the working machine width W2. In the tiller, the tiller tines 3b are arranged inside the cover 3a, so that the working width W1<the working machine width W2. However, for example, when a fertilizer applicator that spreads chemicals in a widthwise direction is attached as the working machine 3, the working width W1 may be greater than the working machine width W2. In this way, which of the working width W1 and the working machine width W2 is larger depends on the working machine 3 and the work content. In addition, the traveling body 2 is configured to be able to change the height and posture of the attached working machine 3.

[0014] The configuration of the tractor 1 will be described in more detail with reference to Figures 1 and 2. As shown in Figure 1, the running body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels (wheels) 7, 7, and its rear part supported by a pair of left and right rear wheels 8, 8.

[0015] A bonnet 9 is disposed at the front of the traveling body 2. An engine 10, which is the drive source of the tractor 1, and a fuel tank (not shown) are housed within this bonnet 9. This engine 10 can be configured, for example, as a diesel engine, but is not limited to this and may be configured, for example, as a gasoline engine. Also, an electric motor may be used as the drive source in addition to or instead of the engine.

[0016] A cabin 11 for a user to board is disposed behind the bonnet 9. Inside the cabin 11, a steering handle (steering gear) 12 for the user to steer, a seat 13 on which the user can sit, and various operating tools for performing various operations are mainly provided. However, a work vehicle such as the tractor 1 may or may not be provided with the cabin 11.

[0017] 2, the monitor device 14, the throttle lever 15, the main shift lever 27, the hydraulic control levers 16, the PTO switch 17, the PTO shift lever 18, the sub shift lever 19, the forward / reverse switch lever 25, the parking brake 26, the work equipment lift switch 28, etc. These operating devices are disposed near the seat 13 or near the steering wheel 12.

[0018] The monitor device 14 is configured to be able to display various information about the tractor 1. The throttle lever 15 is an operating tool for setting the rotation speed of the engine 10. The main speed change lever 27 is an operating tool for steplessly changing the travel speed of the tractor 1. The hydraulic operation lever 16 is an operating tool for switching a hydraulic external take-off valve (not shown). The PTO switch 17 is an operating tool for switching between transmission and cut-off of power to a PTO shaft (not shown) (power take-off shaft) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft, the PTO shaft rotates, and the work machine 3 is driven, whereas when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off, the PTO shaft does not rotate, and the work machine 3 is stopped. The PTO speed change lever 18 is used to change the power input to the work machine 3, and specifically, is an operating tool for changing the rotation speed of the PTO shaft. The auxiliary speed change lever 19 is an operating tool for changing the gear ratio of the traveling auxiliary speed change gear mechanism in the transmission 22. The forward / reverse switching lever 25 is configured to be switchable between a forward position, a neutral position, and a reverse position. When the forward / reverse switching lever 25 is in the forward position, the power of the engine 10 is transmitted to the rear wheels 8, causing the tractor 1 to move forward. When the forward / reverse switching lever 25 is in the neutral position, the tractor 1 does not move forward or backward. When the forward / reverse switching lever 25 is in the reverse position, the power of the engine 10 is transmitted to the rear wheels 8, causing the tractor 1 to move backward. The parking brake (braking operating tool) 26 is an operating tool that is operated by the user's hand to generate a braking force, and is used, for example, when stopping the tractor 1 for a while. The working equipment lifting switch 28 is an operating tool for lifting or lowering the height of the working equipment 3 attached to the traveling machine body 2 within a predetermined range.

[0019] 1, a chassis 20 of the tractor 1 is provided under the traveling body 2. The chassis 20 is made up of a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

[0020] The machine frame 21 is a support member at the front of the tractor 1, and supports the engine 10 directly or via a vibration-proof member or the like. The transmission 22 changes the power from the engine 10 and transmits it to a front axle 23 and a rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

[0021] As shown in FIG. 3, the tractor 1 includes a control unit 4. The control unit 4 is configured as a known computer, and includes an arithmetic unit such as a CPU, a storage device such as a non-volatile memory, and an input / output unit (not shown). The storage device stores various programs and data related to the control of the tractor 1. The arithmetic unit can read out and execute various programs from the storage device. The above hardware and software work together to allow the control unit 4 to operate as a travel control unit 4a and a work machine control unit 4b. The travel control unit 4a controls the travel (forward, backward, stop, turning, etc.) of the traveling machine body 2. The work machine control unit 4b controls the operation (lifting, driving, stopping, etc.) of the work machine 3. The control unit 4 can also perform other controls (for example, analysis of captured images, etc.). The control unit 4 may be configured as one computer or multiple computers.

[0022] The travel control unit 4a performs vehicle speed control to control the vehicle speed of the tractor 1, and steering control to steer the tractor 1. When performing vehicle speed control, the control unit 4 controls at least one of the rotation speed of the engine 10 and the gear ratio of the transmission 22.

[0023] Specifically, the engine 10 is provided with a governor device 41 that includes an actuator (not shown) that changes the rotation speed of the engine 10. The cruise control unit 4a can control the rotation speed of the engine 10 by controlling the governor device 41. The engine 10 is also provided with a fuel injection device 45 that adjusts the injection timing and injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10. The cruise control unit 4a can, for example, stop the supply of fuel to the engine 10 and stop the operation of the engine 10 by controlling the fuel injection device 45.

[0024] The transmission 22 is provided with a speed change device 42, which is, for example, a hydraulic continuously variable speed change device of a movable swash plate type. The travel control unit 4a changes the gear ratio of the transmission 22 by changing the angle of the swash plate of the speed change device 42 using an actuator (not shown). By performing the above processing, the tractor 1 is changed to the target vehicle speed.

[0025] When performing steering control, the traveling control unit 4a controls the rotation angle of the steering wheel 12. Specifically, a steering actuator 43 is provided in the middle of the rotation axis (steering shaft) of the steering wheel 12. In this configuration, when the tractor 1 travels along a predetermined route, the control unit 4 calculates an appropriate rotation angle of the steering wheel 12 so that the tractor 1 travels along the route, and drives the steering actuator 43 to achieve the obtained rotation angle, thereby controlling the rotation angle of the steering wheel 12.

[0026] The work implement control unit 4b switches between driving and stopping the work implement 3 by controlling the PTO switch 17 based on whether or not the work execution conditions are met. The work implement control unit 4b also controls the lifting and lowering of the work implement 3. Specifically, the tractor 1 is provided with a lifting actuator 44 consisting of a hydraulic cylinder or the like, near the three-point linkage that connects the work implement 3 to the traveling body 2. The work implement control unit 4b drives the lifting actuator 44 to appropriately lift and lower the work implement 3, allowing the work implement 3 to perform work at a desired height.

[0027] A tractor 1 equipped with a control unit 4 as described above can control each part of the tractor 1 (the running body 2, the work machine 3, etc.) via the control unit 4, allowing the tractor 1 to perform autonomous work while autonomously traveling within a field, without the user having to get inside the cabin 11 to perform various operations.

[0028] Next, a configuration for acquiring information necessary for autonomous traveling will be described. Specifically, as shown in Fig. 3 etc., the tractor 1 of this embodiment is equipped with a positioning antenna 6, a wireless communication antenna 48, a front camera 56, a rear camera 57, a vehicle speed sensor 53, a steering angle sensor 52, etc. In addition to these, the tractor 1 is equipped with an inertial measurement unit (IMU) capable of identifying the attitude (roll angle, pitch angle, yaw angle) of the traveling body 2.

[0029] The positioning antenna 6 receives signals from positioning satellites constituting a positioning system such as a global navigation satellite system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to a position information acquisition unit 49 serving as a position detection unit shown in FIG. 3. The position information acquisition unit 49 calculates and acquires position information of the traveling body 2 of the tractor 1 (strictly speaking, the positioning antenna 6) as, for example, latitude and longitude information. The position information acquired by the position information acquisition unit 49 is input to the control unit 4 and used for autonomous traveling.

[0030] In this embodiment, a highly accurate satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems may be used as long as they can obtain highly accurate position coordinates. For example, a differential GPS (DGPS) or a satellite-based augmentation system (SBAS) may be used.

[0031] The wireless communication antenna 48 receives signals from the wireless communication terminal 46 operated by the user and transmits signals to the wireless communication terminal 46. As shown in FIG. 1, the wireless communication antenna 48 is attached to the upper surface of the roof 5 of the cabin 11 of the tractor 1. A signal received by the wireless communication antenna 48 from the wireless communication terminal 46 is processed by the wireless communication unit 40 shown in FIG. 3 and then input to the control unit 4. A signal to be transmitted from the control unit 4 or the like to the wireless communication terminal 46 is processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

[0032] The front camera 56 photographs the area in front of the tractor 1. The rear camera 57 photographs the area behind the tractor 1. The front camera 56 and the rear camera 57 are attached to the roof 5 of the tractor 1. Video data photographed by the front camera 56 and the rear camera 57 is transmitted by the wireless communication unit 40 from the wireless communication antenna 48 to the wireless communication terminal 46. The wireless communication terminal 46 that receives the video data displays the content of the video data on the display 31.

[0033] The above-mentioned vehicle speed sensor 53 detects the vehicle speed of the tractor 1, and is provided, for example, on the axle between the front wheels 7, 7. The detection result data obtained by the vehicle speed sensor 53 is output to the control unit 4. The vehicle speed of the tractor 1 may be calculated based on the travel time of the tractor 1 over a predetermined distance based on the positioning antenna 6, without being detected by the vehicle speed sensor 53. The steering angle sensor 52 is a sensor that detects the steering angle of the front wheels 7, 7. In this embodiment, the steering angle sensor 52 is provided on a kingpin (not shown) provided on the front wheels 7, 7. The detection result data obtained by the steering angle sensor 52 is output to the control unit 4. The steering angle sensor 52 may be provided on a steering shaft.

[0034] As shown in FIG. 3, the wireless communication terminal 46 includes a display 31 and a touch panel 32. The wireless communication terminal 46 is a tablet terminal, but may be a smartphone, a notebook PC, or the like. When the tractor 1 is made to run autonomously with a user aboard the tractor 1, the tractor 1 (for example, the control unit 4) may have the same functions as the wireless communication terminal 46. The user can refer to and confirm information displayed on the display 31 of the wireless communication terminal 46 (for example, information from the front camera 56, the rear camera 57, the vehicle speed sensor 53, etc.). In addition, the user can operate the above-mentioned touch panel 32 or a hardware key (not shown) to transmit a control signal (for example, a stop signal, etc.) for controlling the tractor 1 to the control unit 4 of the tractor 1.

[0035] The wireless communication terminal 46 includes a calculation device such as a CPU (not shown), a storage device such as a non-volatile memory, and an input / output unit. The storage device stores various programs and data related to the travel route. The calculation device can read out and execute various programs from the storage device. Through cooperation between the above hardware and software, the wireless communication terminal 46 can be operated as a display control unit 33, a farm field acquisition unit 34, a travel route creation unit 35, a reference auxiliary line creation unit (auxiliary line creation unit) 36, an adjacent auxiliary line creation unit (auxiliary line creation unit) 37, an auxiliary line selection unit 38, and a selection processing unit 39 (specific processing will be described later).

[0036] The display control unit 33 creates display data to be displayed on the display 31 and appropriately controls the display contents. For example, the display control unit 33 causes the display 31 to display a predetermined monitoring screen, instruction screen, etc. while the tractor 1 is autonomously traveling along a travel route.

[0037] The field acquisition unit 34 acquires the position and shape of the field in which the tractor 1 will travel autonomously from the storage device. The position and shape of the field are created based on the transition of the position information of the positioning antenna 6 when the tractor 1 travels along the perimeter of the field. The position and shape of the field may be created by the user specifying an area on a map displayed on the display 31, for example, without actually traveling the tractor 1. In this embodiment, the information on the field is stored in the wireless communication terminal 46, but may be stored in a server physically separated from the wireless communication terminal 46. In this case, the field acquisition unit 34 acquires the information on the field from the server.

[0038] Here, the field will be briefly described with reference to FIG. 4. The field includes a working area and a headland area. The working area is located in the center of the field and is an area for performing work (an area where performing work is the main purpose). The headland area is located outside the working area and is an area used for performing work appropriately in the working area. For example, the headland area is used to move the tractor 1 that has entered the field to a start position for work in the working area. Furthermore, the headland area is also used to turn the tractor 1 that has traveled straight through the working area. In this embodiment, work is performed not only in the working area but also in the headland area. Specifically, the tractor 1 travels through the working area to perform work, and then travels through the headland area to perform work.

[0039] The travel path creation unit 35 creates a travel path for performing work in the work area. In this embodiment, the travel path creation unit 35 creates a straight path 71 and a turning path 72 shown in FIG. 4 based on various settings made by the user using the wireless communication terminal 46. The straight path 71 is parallel to one side (short side) of the field edge and the work area edge. The arrangement interval of the straight path 71 is a value obtained by subtracting the overlap amount (length indicating the extent to which adjacent work ranges overlap in the vehicle width direction) from the work width W1, or a value obtained by adding the work interval (length indicating the extent to which adjacent work ranges are spaced apart in the vehicle width direction) to the work width W1. In addition, the turning path 72 is a path that connects the straight path 71 to each other. In this embodiment, the turning path 72 connects adjacent straight path 71 to each other, but it may also connect distant straight path 71 to each other. The turning path 72 in this embodiment is a path in which the tractor 1 turns 90 degrees, then moves backward, and then switches to forward movement and turns 90 degrees again to turn the tractor 1 around, thereby reaching the next straight path 71. However, instead of this type of turning path 72, a turning path may be created in which the tractor 1 turns 180 degrees to turn the tractor 1 around and reach the next straight path 71. The travel path created in this manner is stored in the wireless communication terminal 46.

[0040] The user appropriately operates the wireless communication terminal 46 to input (transfer) information on the travel route created by the travel route creation unit 35 to the control unit 4 of the tractor 1. After that, the user drives the tractor 1 and places the tractor 1 at the start position of the travel route. Next, the user operates the wireless communication terminal 46 to instruct the start of autonomous travel. As a result, the tractor 1 performs work while traveling along the straight route 71 and the turning route 72.

[0041] The reference auxiliary line creation unit 36 ​​and the adjacent auxiliary line creation unit 37 perform processing to create auxiliary lines for autonomous driving in the headland area. When the user performs a predetermined operation on the wireless communication terminal 46, the tractor 1 autonomously drives along the auxiliary lines. In this embodiment, the turning in the headland area and the switching between driving and stopping the work implement 3 are configured to be operated by the user, and are not performed autonomously by the tractor 1. Alternatively, the tractor 1 may be configured to autonomously perform these processes. The processing performed by the auxiliary line selection unit 38 and the selection processing unit 39 will be described later.

[0042] The auxiliary lines created by the reference auxiliary line creating unit 36 ​​and the adjacent auxiliary line creating unit 37 will be described in detail below. The reference auxiliary line creating unit 36 ​​and the adjacent auxiliary line creating unit 37 can create two types of auxiliary lines in response to user instructions, etc. The first auxiliary line is an auxiliary line for when work that requires no remaining work (e.g., plowing) is performed in the headland area. The second auxiliary line is an auxiliary line for when work that requires a constant work pitch (sowing, ridge making, etc.) is performed in the headland area even if remaining work occurs.

[0043] First, a method for creating a first auxiliary line will be described with reference to Fig. 5 to Fig. 7. As shown in Fig. 5, the first auxiliary line includes a first reference auxiliary line 81 and a first adjacent auxiliary line 82.

[0044] First, the farm field acquisition unit 34 acquires information about the farm field for which the first auxiliary line is to be created (S101). The information acquired here includes, for example, the positions of the periphery (outline) of the farm field, the work area, and the headland area.

[0045] Next, the reference auxiliary line creating unit 36 ​​creates a first reference auxiliary line 81 by offsetting the field edge (each side constituting the contour of the outer periphery of the field) by the first reference interval T1 inward (S102). Therefore, the first reference auxiliary line 81 is parallel to the field edge (basically parallel to the work area edge as well). In addition, since the first reference auxiliary line 81 is created for each side of the field edge, four first reference auxiliary lines 81 are created when the field is rectangular. In addition, the first reference interval T1 is 1 / 2 the working width W1 or 1 / 2 the working implement width W2 as shown in FIG. 7. It is preferable to set the larger one of the working width W1 and the working implement width W2 as the first reference interval T1. This makes it possible to prevent work from being performed outside the field when the tractor 1 travels along the first reference auxiliary line 81, or to prevent the working implement from going outside the field.

[0046] Next, the adjacent auxiliary line creation unit 37 creates a first adjacent auxiliary line 82 by separating (offsetting) the first reference auxiliary line 81 inward by the auxiliary line interval S (S103). Therefore, the first adjacent auxiliary line 82 is parallel to the first reference auxiliary line 81. Also, as shown in FIG. 7, the auxiliary line interval S is a value obtained by subtracting the overlap amount R from the working width W1 or a value obtained by adding the working interval D to the working width W1. Note that the overlap amount R and the working interval D are the same as the values ​​used when creating the straight path 71, but may be different. Also, the auxiliary line interval S and the working width W1 may have the same value (in other words, the overlap amount R or the working interval D may be zero).

[0047] The adjacent auxiliary line creating unit 37 creates 0, 1, or multiple first adjacent auxiliary lines 82. The specific number of lines to be created is as follows. That is, the number of first auxiliary lines to be created for one side of the field edge (that is, the total number of first reference auxiliary lines 81 and first adjacent auxiliary lines 82) is the value obtained by rounding up the decimal point of headland width L / auxiliary line interval S. Headland width L is the distance from the field edge to the working area. By rounding up the decimal point, the headland area can be worked on without omission (excluding the working interval D of the working width W1). Depending on the conditions, the first adjacent auxiliary line 82 may be created on the working area (even in this case, the route is a route for working on the headland area). In addition, when headland width L differs depending on the side of the field edge, the number of first auxiliary lines to be created may differ depending on the side.

[0048] In addition, in this embodiment, the end points of the first reference additional line 81 and the first adjacent additional line 82 are aligned with the field edge, but these end points may be set at positions different from the field edge (for example, distant positions). In other words, since the turning of the tractor 1 is started at the discretion of the user, it does not matter if the first reference additional line 81 and the first adjacent additional line 82 are long.

[0049] Next, a method for creating a second auxiliary line will be described with reference to Fig. 8 to Fig. 10. In the following description, the description of the parts common to the method for creating a first auxiliary line may be simplified or omitted. As shown in Fig. 8, the second auxiliary line includes a second reference auxiliary line 91 and a second adjacent auxiliary line 92.

[0050] First, the farm field acquisition unit 34 acquires information about the farm field in which the second auxiliary line is to be created (S201).

[0051] Next, the reference auxiliary line creating unit 36 ​​creates a second reference auxiliary line 91 by offsetting the work area periphery by the second reference interval T2 (S202). Therefore, the second reference auxiliary line 91 is parallel to the work area periphery (basically parallel to the field periphery). In addition, the second reference auxiliary line 91 is created for each side of the work area periphery. In addition, the second reference interval T2 is a value obtained by subtracting the overlap amount R from 1 / 2 the work width W1, or a value obtained by adding the work interval D to 1 / 2 the work width W1, as shown in FIG. 10. This allows work to be started from an appropriate position outside the work area. Therefore, even if work is performed by traveling through the headland area, the work is performed only in the headland area and does not basically enter the work area.

[0052] Next, the adjacent auxiliary line creating unit 37 creates the second adjacent auxiliary line 92 by separating (offsetting) the second reference auxiliary line 91 outward by the auxiliary line interval S (S203). Therefore, the second adjacent auxiliary line 92 is parallel to the second reference auxiliary line 91.

[0053] The adjacent auxiliary line creating unit 37 creates 0, 1, or multiple second adjacent auxiliary lines 92. The specific number of lines to be created is as follows. That is, the number of second auxiliary lines to be created for one side of the field edge (that is, the total number of the second reference auxiliary lines 91 and the second adjacent auxiliary lines 92) is a value obtained by rounding down the decimal point of the headland width L / auxiliary line interval S. Although there is a possibility that work will remain unfinished by rounding down the decimal point, it is possible to prevent work from being performed outside the field and to keep the work pitch constant. In addition, when the headland width L differs depending on the side of the field edge, the number of second auxiliary lines to be created may differ depending on the side. In addition, the length of the second auxiliary line can also be changed as appropriate, similar to the first auxiliary line.

[0054] Next, the adjacent auxiliary line creation unit 37 judges whether the interval X between the outermost second adjacent auxiliary line 92 and the periphery of the field is smaller than 1 / 2 of the working width W1 or 1 / 2 of the working machine width W2 (S204). Here, if the interval X is smaller than 1 / 2 of the working width W1, there is a possibility that work will be performed outside the field, and if the interval X is smaller than 1 / 2 of the working machine width W2, there is a possibility that the working machine 3 will go outside the field. Therefore, if the answer is Yes in step S204, the adjacent auxiliary line creation unit 37 deletes the outermost second adjacent auxiliary line 92 (S205). In addition, it is preferable to set the condition that the interval X is smaller than not one but both of 1 / 2 of the working width W1 or 1 / 2 of the working machine width W2. Note that if the answer is No in step S204, the outermost second adjacent auxiliary line 92 is not deleted.

[0055] Therefore, the number of second auxiliary lines finally created is "the value obtained by rounding down the decimal point of headland width L / auxiliary line interval S or the value obtained by subtracting 1 from the value." Also, in this embodiment, after the second adjacent auxiliary lines 92 are created under the conditions of step S203, it is determined in step S204 whether or not the outermost second adjacent auxiliary line 92 needs to be deleted. Alternatively, the second adjacent auxiliary line 92 that satisfies the deletion condition of step S204 may not be created from the beginning (in other words, processing similar to steps S204 and S205 may be incorporated into step S203).

[0056] Next, the parallel movement of the auxiliary line will be briefly explained. The first auxiliary line is created based on the field edge. Therefore, for example, when the position of the field edge changes, the first auxiliary line moves in parallel accordingly. In addition, since the first auxiliary line corresponds to each side of the field edge, for example, when the position of one side of the field edge changes, the position of the first auxiliary line corresponding to that side is changed. Note that, for example, when the headland width L changes further, the process of FIG. 6 is performed again to re-create the first reference auxiliary line 81 and the first adjacent auxiliary line 82.

[0057] In addition, the second auxiliary line differs only in that the reference line is the work area perimeter rather than the field perimeter, and if the position of the work area perimeter changes, the same processing is performed as for the first auxiliary line.

[0058] Next, a specific flow of processing related to work in the work area and headland area will be described with reference to Figures 11 and 12. Figure 11 is a flowchart showing processing related to work in the work area and headland area. Figure 12 is a diagram showing an image displayed on the wireless communication terminal 46 after the route is created.

[0059] After completing the registration of the field, the user inputs information for creating a path for work in the work area and headland area (e.g., working width W1, working implement width W2, type of working implement, start position, and end position) into the wireless communication terminal 46. Thereafter, the travel path creation unit 35 creates a travel path for work in the work area (S301). In addition, the reference auxiliary line creation unit 36 ​​and the adjacent auxiliary line creation unit 37 create auxiliary lines for work in the headland area (S302). Note that if the processes of steps S301 and S302 have been performed in advance, the wireless communication terminal 46 omits the processes of steps S301 and S302 and first performs the process of step S303.

[0060] In step S302, the wireless communication terminal 46 may be configured to create both the first auxiliary line and the second auxiliary line, or may be configured to create only one of them. When creating only one of the auxiliary lines, the wireless communication terminal 46 (auxiliary line selection unit 38) may select the auxiliary line to be created. The wireless communication terminal 46 creates the auxiliary line suitable for the working machine 3 according to the type of the working machine 3 registered in advance. For example, when the working machine 3 used is a tiller, it is important to eliminate remaining work, so the first auxiliary line is selected and created. On the other hand, when the working machine 3 used is a fertilizer applicator, it is important to keep the work pitch constant even if remaining work occurs, so the second auxiliary line is selected and created.

[0061] Next, the wireless communication terminal 46 (display control unit 33) displays on the display 31 the travel path for work in the work area (straight path 71 and turning path 72) and the auxiliary lines for work in the headland area (first reference auxiliary line 81 and first adjacent auxiliary line 82) as shown in Fig. 12 (S303). When both the first auxiliary line and the second auxiliary line are created in step S302, for example, the wireless communication terminal 46 displays either one or both of the auxiliary lines on the display 31. When displaying either one of the auxiliary lines, the auxiliary line selection unit 38 may select the auxiliary line to be displayed in the same manner as described above.

[0062] Furthermore, the wireless communication terminal 46 (selection processing unit 39) displays a screen inquiring of the user as to which of the "work area" and "headland area" the work will be performed in, and accepts the user's selection (S303). There are various display forms for this screen, but it may be configured to have the user select an area (or a driving route or auxiliary line in the area) displayed as a diagram on the display 31 as shown in FIG. 12, for example, or to have the user select an item displayed in text such as "work area" or "headland area." If the user has not completed work in the work area, the user selects "work area." On the other hand, if the user has already completed work in the work area, the user selects "headland area."

[0063] When the wireless communication terminal 46 determines that the "work area" has been selected by the user (Yes in step S304), it executes work in the work area (S305). Specifically, it instructs the tractor 1 (travel control unit 4a) to autonomously travel along the created travel route (straight line route 71 and turning route 72). Note that when working in the work area, the configuration may be such that the user can further select between a manned mode in which the user boards the tractor 1 and an unmanned mode in which the user does not board the tractor 1.

[0064] After work in the work area is completed, the wireless communication terminal 46 (selection processing unit 39) displays a screen that allows the user to select either "Work in headland area" or "End work" and accepts the user's selection (S306). If the user wishes to work in the headland area now, the user selects "Work in headland area." On the other hand, if the user wishes to work in the headland area later or if work in the headland area is not necessary at all, the user selects "End work."

[0065] When the wireless communication terminal 46 determines that "work in the headland area" has been selected (Yes in step S307), it executes work in the headland area (S308). In addition, when the "headland area" has been selected in step S304 (i.e., when the "work area" has not been selected, or No in step S304), the wireless communication terminal 46 similarly executes work in the headland area (S308). Specifically, it instructs the tractor 1 (travel control unit 4a) to autonomously travel along the first auxiliary line (first reference auxiliary line 81 and first adjacent auxiliary line 82) or the second auxiliary line (second reference auxiliary line 91 or second adjacent auxiliary line 92) that has already been created. When the wireless communication terminal 46 creates both the first auxiliary line and the second auxiliary line in step S302, for example, the auxiliary line selection unit 38 may select the auxiliary line to be used in the work in the headland area in the same manner as described above. Alternatively, the user may select which of the first auxiliary line and the second auxiliary line to work on. In this case, the auxiliary line selection unit 38 performs a process of selecting one of the auxiliary lines in response to a user's operation on the touch panel 32 or the like.

[0066] When the work in the headland area is completed, and when "Work End" is selected in step S307, the work in the field by the tractor 1 is completed (interrupted).

[0067] Next, the display of the travel route and the auxiliary lines on the wireless communication terminal 46 will be described with reference to Fig. 13 and Fig. 14. In the following description, the first auxiliary line and the second auxiliary line will be collectively referred to as the auxiliary line.

[0068] As shown in FIG. 13, when the tractor 1 is autonomously traveling along the traveling route, the traveling route and the auxiliary lines are displayed so that the traveling route stands out more than the auxiliary lines. In the example shown in FIG. 13, the line width is made thicker to make the traveling route more noticeable, but the color or the line type (solid line, dashed line, chain line) may be different. On the other hand, when the tractor 1 is autonomously traveling along the auxiliary lines, the traveling route and the auxiliary lines are displayed so that the auxiliary lines stand out more than the traveling route, as shown in FIG. 14. Note that even when the tractor 1 is not traveling, the display mode may be different between the traveling route and the auxiliary lines. This makes it easier for the user to check the route.

[0069] As described above, the autonomous driving system 100 of the present embodiment includes the field acquisition unit 34, the reference auxiliary line creation unit 36, the adjacent auxiliary line creation unit 37, and the travel control unit 4a. The field acquisition unit 34 acquires information on the field having a working area in which a travel path is set for the tractor 1 equipped with the work implement 3 to perform work by autonomously traveling, and a headland area formed between the working area and the periphery of the field. The reference auxiliary line creation unit 36 ​​creates a first reference auxiliary line 81 in the headland area at a position spaced inward from the periphery of the field by a first reference interval T1, which is 1 / 2 the working width W1 or 1 / 2 the working implement width W2. The adjacent auxiliary line creation unit 37 creates a first adjacent auxiliary line 82 at a position spaced inward from the first reference auxiliary line 81 by an auxiliary line interval S, which is a value obtained by subtracting the overlap amount R from the working width W1 or a value obtained by adding the working interval D to the working width W1. The total number of the first reference additional lines 81 and the first adjacent additional lines 82 created inside a predetermined side of the field periphery is the value obtained by rounding up the decimal point of the headland width L / additional line interval S. The traveling control unit 4a causes the tractor 1 to travel autonomously along at least a part of the first reference additional lines 81 and the first adjacent additional lines 82.

[0070] This makes it possible to prevent work from being left unfinished in the headland area by creating a first auxiliary line based on the periphery of the field and causing the tractor 1 to travel autonomously along the first auxiliary line.

[0071] The autonomous driving system 100 of this embodiment also includes a field acquisition unit 34, a reference auxiliary line creation unit 36, an adjacent auxiliary line creation unit 37, and a travel control unit 4a. The field acquisition unit 34 acquires information on the field having a working area in which a travel path is set for the tractor 1 equipped with the work implement 3 to perform work by autonomously traveling, and a headland area formed between the working area and the periphery of the field. The reference auxiliary line creation unit 36 ​​creates a second reference auxiliary line 91 in the headland area at a position spaced outward from the periphery of the working area by a second reference interval T2, which is a value obtained by subtracting the overlap amount R from 1 / 2 the working width W1 or a value obtained by adding the working interval D to 1 / 2 the working width W1. The adjacent auxiliary line creating unit 37 creates the second adjacent auxiliary lines 92 at positions spaced outward from the second reference auxiliary lines 91 by an auxiliary line interval S, which is the value obtained by subtracting the overlap amount R from the working width W1 or the value obtained by adding the working distance D to the working width W1. The total number of the second reference auxiliary lines 91 and the second adjacent auxiliary lines 92 created outside a predetermined side of the periphery of the working area is a value obtained by rounding down the decimal point of the headland width L / auxiliary line interval S or a value obtained by subtracting 1 from the value. The traveling control unit 4a causes the tractor 1 to travel autonomously along at least a part of the second reference auxiliary lines 91 and the second adjacent auxiliary lines 92.

[0072] As a result, by creating a second auxiliary line based on the periphery of the work area and causing the tractor 1 to travel autonomously along that auxiliary line, the work pitch in the headland area can be made constant.

[0073] In the autonomous driving system 100 of this embodiment, the reference auxiliary line creating unit 36 ​​can create the first reference auxiliary line 81 and can create the second reference auxiliary line 91. The adjacent auxiliary line creating unit 37 can create the first adjacent auxiliary line 82 and can create the second adjacent auxiliary line 92. The autonomous driving system 100 further includes an auxiliary line selecting unit 38 that selects the first reference auxiliary line 81 and the first adjacent auxiliary line 82, or selects the second reference auxiliary line 91 and the second adjacent auxiliary line 92. The traveling control unit 4a causes the tractor 1 to autonomously travel along at least a part of the auxiliary line selected by the auxiliary line selecting unit 38.

[0074] This makes it possible to cause the tractor 1 to travel autonomously in the headland area based on either the first auxiliary line based on the periphery of the farm field or the second auxiliary line based on the periphery of the work area.

[0075] Furthermore, in the autonomous driving system 100 of this embodiment, if the distance X between the second adjacent auxiliary line 92 and the edge of the field is smaller than 1 / 2 the working width W1 or 1 / 2 the working implement width W2, it is preferable that the adjacent auxiliary line creation unit 37 does not create the second adjacent auxiliary line 92 or deletes it after creating it.

[0076] This makes it possible to prevent the creation of a path in which the work implement 3 comes into contact with the edge of the field or a path in which work is carried out outside the field.

[0077] Furthermore, the autonomous driving system 100 of this embodiment includes a selection processing unit 39 that performs a process (S303) for allowing the user to select whether to work in the working area or the headland area, and a process (S306) for allowing the user to select whether to work in the headland area or to end the work. When it is determined that the user has selected work in the headland area, the driving control unit 4a causes the tractor 1 to autonomously travel along at least a part of the auxiliary line created by the reference auxiliary line creating unit 36 ​​and the adjacent auxiliary line creating unit 37.

[0078] This allows the user to cause the tractor 1 to perform autonomous traveling in the headland area by performing a simple operation.

[0079] Although the preferred embodiment of the present invention has been described above, the above configuration can be modified, for example, as follows.

[0080] Although the wireless communication terminal 46 in the above embodiment has a function of creating both the first auxiliary line and the second auxiliary line, it may have a configuration having only one of the functions.

[0081] In the above embodiment, work in the headland area is performed using either the first auxiliary line or the second auxiliary line. Alternatively, work in the headland area can be performed using an auxiliary line created by another method (for example, an auxiliary line drawn so as to equally divide the field edge and the work area edge). Therefore, it is possible to cause the wireless communication terminal 46 to perform the processing of each step shown in Fig. 11 using various auxiliary lines for headland work. Furthermore, the selection processing unit 39 may be configured to perform the processing of only one of step S303 and step S306.

[0082] <Notes on the invention> According to a first aspect of the present invention, there is provided an autonomous driving system having the following configuration. That is, the autonomous driving system includes a field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The field acquisition unit acquires information on a field having a working area in which a travel path is set for a work vehicle equipped with a work implement to perform work by autonomously traveling, and a headland area formed between the working area and the field edge. The reference auxiliary line creation unit creates a first reference auxiliary line in the headland area at a position spaced inward from the field edge by a first reference interval that is 1 / 2 the working width or 1 / 2 the working implement width. The adjacent auxiliary line creation unit creates a first adjacent auxiliary line at a position spaced inward from the first reference auxiliary line by an auxiliary line interval that is the working width minus an overlap amount or the working width plus a working interval. The total number of the first reference auxiliary lines and the first adjacent auxiliary lines created inside a predetermined side of the field edge is a value obtained by rounding up the decimal point of L / S, where L is a headland width that is the distance from the field edge to the work area and S is an auxiliary line interval. The traveling control unit causes the work vehicle to travel autonomously along at least a portion of the first reference auxiliary lines and the first adjacent auxiliary lines.

[0083] This makes it possible to create an auxiliary line based on the edge of the field and have the work vehicle autonomously drive along that auxiliary line, thereby preventing work from being left unfinished in the headland area.

[0084] According to a second aspect of the present invention, an autonomous driving system having the following configuration is provided. That is, the autonomous driving system includes a field acquisition unit, a reference auxiliary line creation unit, an adjacent auxiliary line creation unit, and a travel control unit. The field acquisition unit acquires information on a field having a working area in which a travel path is set for a work vehicle equipped with a work implement to perform work by autonomously traveling, and a headland area formed between the working area and a periphery of the field. The reference auxiliary line creation unit creates a second reference auxiliary line in the headland area at a position where the periphery of the working area is spaced outward by a second reference interval, which is a value obtained by subtracting an overlap amount from 1 / 2 of the working width, or a value obtained by adding a working interval to 1 / 2 of the working width. The adjacent auxiliary line creation unit creates a second adjacent auxiliary line at a position where the second reference auxiliary line is spaced outward by an auxiliary line interval, which is a value obtained by subtracting an overlap amount from the working width, or a value obtained by adding a working interval to the working width. The total number of the second reference auxiliary lines and the second adjacent auxiliary lines created outside a predetermined side of the working area periphery is a value obtained by rounding down the decimal point of L / S or by subtracting 1 from said value, where L is a headland width that is the distance from the field periphery to the working area and S is an auxiliary line interval. The traveling control unit causes the work vehicle to travel autonomously along at least a portion of the second reference auxiliary lines and the second adjacent auxiliary lines.

[0085] This makes it possible to create an auxiliary line based on the periphery of the work area and have the work vehicle autonomously drive along that auxiliary line, thereby making it possible to keep the work pitch in the headland area constant.

[0086] The autonomous driving system is preferably configured as follows. That is, the reference auxiliary line creation unit is capable of creating the first reference auxiliary line and also the second reference auxiliary line. The adjacent auxiliary line creation unit is capable of creating the first adjacent auxiliary line and also the second adjacent auxiliary line. The autonomous driving system further includes an auxiliary line selection unit that selects the first reference auxiliary line and the first adjacent auxiliary line, or selects the second reference auxiliary line and the second adjacent auxiliary line. The driving control unit causes the work vehicle to autonomously drive along at least a portion of the auxiliary line selected by the auxiliary line selection unit.

[0087] This makes it possible to cause the work vehicle to travel autonomously in the headland area based on either an auxiliary line based on the periphery of the farm field or an auxiliary line based on the periphery of the work area.

[0088] In the above-mentioned autonomous driving system, it is preferable that the adjacent auxiliary line creation unit does not create the second adjacent auxiliary line or deletes it after creating it if the distance between the second adjacent auxiliary line and the field edge is smaller than 1 / 2 the working width or 1 / 2 the working machine width.

[0089] This makes it possible to prevent the creation of a path in which the work implement comes into contact with the edge of the field or a path in which work is carried out outside the field.

[0090] The autonomous driving system is preferably configured as follows. That is, the autonomous driving system includes a selection processing unit that performs a process of having a user select whether to work in the working area or the headland area, and a process of having the user select whether to work in the headland area or to end work. When it is determined that the user has selected work in the headland area, the driving control unit causes the work vehicle to autonomously drive along at least a part of the auxiliary line created by the reference auxiliary line creation unit and the adjacent auxiliary line creation unit.

[0091] This allows the user to have the work vehicle perform autonomous driving in the headland area by performing simple operations.

[0092] According to a third aspect of the present invention, there is provided an autonomous driving system having the following configuration. That is, the autonomous driving system includes a field acquisition unit, an auxiliary line creation unit, a selection processing unit, and a travel control unit. The field acquisition unit acquires information on a field having a working area in which a travel path is set for a work vehicle equipped with a work implement to perform work by autonomously traveling, and a headland area formed between the working area and the periphery of the field. The auxiliary line creation unit creates an auxiliary line for autonomously traveling the work vehicle in the headland area. The selection processing unit performs a process of having a user select whether to perform work in the working area or the headland area, and a process of having the user select whether to perform work in the headland area or to end work. When the travel control unit determines that the user has selected work in the headland area, it causes the work vehicle to autonomously travel along at least a part of the auxiliary line created by the auxiliary line creation unit.

[0093] This allows the user to have the work vehicle perform autonomous driving in the headland area by performing simple operations.

[0094] An autonomous driving system according to one aspect of the present invention includes a field acquisition unit, an auxiliary line creation unit, and a display control unit. The field acquisition unit acquires information on a field having a work area in which a travel path is set for a work vehicle equipped with a work implement to perform work by autonomously traveling, and a headland area formed between the work area and a periphery of the field. The auxiliary line creation unit creates an auxiliary line for autonomously traveling the work vehicle in the headland area. The display control unit displays the travel path and the auxiliary line. The display control unit displays a screen that allows a user to select whether to work in the headland area or to end work after completing work in the work area. [Explanation of symbols]

[0095] 1 Tractor (work vehicle) 34. Field Acquisition Department 35 Driving route creation section 36 Reference auxiliary line creation section (auxiliary line creation section) 37 Adjacent auxiliary line creation section (auxiliary line creation section) 38 Auxiliary line selection section 39 Selection processing section 46 Wireless communication terminals

Claims

1. A driving route creation unit that creates a driving route for a work vehicle to autonomously drive in a work area inside a periphery of a farm field and perform work; an auxiliary line creation unit that creates an auxiliary line for causing the work vehicle to autonomously travel outside the work area based on a periphery of the field; A display control unit that displays the auxiliary line, The display control unit changes a display mode of the auxiliary line between a case where the work vehicle autonomously travels based on the travel route and a case where the work vehicle autonomously travels based on the auxiliary line. Autonomous driving system.

2. A driving route creation unit that creates a driving route for a work vehicle to autonomously drive in a work area inside the periphery of a farm field and perform work; an auxiliary line creation unit that creates an auxiliary line for causing the work vehicle to autonomously travel outside the work area based on a periphery of the work area; A display control unit that displays the auxiliary line, The display control unit changes a display mode of the auxiliary line between a case where the work vehicle autonomously travels based on the travel route and a case where the work vehicle autonomously travels based on the auxiliary line. Autonomous driving system.

3. the auxiliary line creation unit creates the auxiliary line for causing the work vehicle to autonomously travel in a headland area formed between a work area in which the work vehicle is caused to autonomously travel to perform work and a periphery of a farm field; 3. The autonomous driving system according to claim 1 or 2.

4. A control unit is further provided that causes the work vehicle to autonomously travel along the auxiliary line when a predetermined user operation is performed. The autonomous driving system according to any one of claims 1 to 3.

5. The display control unit simultaneously displays the auxiliary line and the position of the work vehicle. The autonomous driving system according to any one of claims 1 to 4.

6. A driving route is created for a work vehicle to autonomously drive in a work area inside the periphery of a farm field, Creating an auxiliary line for autonomously driving the work vehicle outside the work area based on the periphery of the field or the periphery of the work area; Display the auxiliary line, A display mode of the auxiliary line is made different between a case where the work vehicle autonomously travels based on the travel route and a case where the work vehicle autonomously travels based on the auxiliary line. Autonomous driving method.

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